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<!-- doxytag: class="ompl::base::SO2StateSpace" --><!-- doxytag: inherits="ompl::base::StateSpace" -->
<p>A state space representing SO(2). The distance function and interpolation take into account angle wrapping.
<a href="classompl_1_1base_1_1SO2StateSpace.html#details">More...</a></p>
<p><code>#include <<a class="el" href="SO2StateSpace_8h_source.html">SO2StateSpace.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::base::SO2StateSpace:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1base_1_1SO2StateSpace__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1SO2StateSpace_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1base_1_1SO2StateSpace_inherit__map" id="ompl_1_1base_1_1SO2StateSpace_inherit__map">
<area shape="rect" id="node2" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined." alt="" coords="17,5,180,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1base_1_1SO2StateSpace-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html">StateType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The definition of a state in SO(2) <a href="classompl_1_1base_1_1SO2StateSpace_1_1StateType.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad276b0f2eefb73a8fbfb9cef76cfe4d9"></a><!-- doxytag: member="ompl::base::SO2StateSpace::getDimension" ref="ad276b0f2eefb73a8fbfb9cef76cfe4d9" args="(void) const " -->
virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#ad276b0f2eefb73a8fbfb9cef76cfe4d9">getDimension</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the dimension of the space (not the dimension of the surrounding ambient space) <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#a73bd1d72deeb2f82bc21e83916ab4950">getMaximumExtent</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the maximum value a call to <a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#acd2f2fe4af5e7358d737e992791f38f8" title="Computes distance to between two states. This function satisfies the properties of a metric and its r...">distance()</a> can return (or an upper bound). For unbounded state spaces, this function can return infinity. <a href="#a73bd1d72deeb2f82bc21e83916ab4950"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a238e79ef287dc8bb3d728110f0f29ea1"></a><!-- doxytag: member="ompl::base::SO2StateSpace::enforceBounds" ref="a238e79ef287dc8bb3d728110f0f29ea1" args="(State *state) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#a238e79ef287dc8bb3d728110f0f29ea1">enforceBounds</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-op. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a627f6f6555b06e835a3a189ac1c5c83f"></a><!-- doxytag: member="ompl::base::SO2StateSpace::satisfiesBounds" ref="a627f6f6555b06e835a3a189ac1c5c83f" args="(const State *state) const " -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#a627f6f6555b06e835a3a189ac1c5c83f">satisfiesBounds</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if a state is inside the bounding box. For unbounded spaces this function can always return true. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afa370ede45deafe06b4217cf2641b610"></a><!-- doxytag: member="ompl::base::SO2StateSpace::copyState" ref="afa370ede45deafe06b4217cf2641b610" args="(State *destination, const State *source) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#afa370ede45deafe06b4217cf2641b610">copyState</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *destination, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *source) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy a state to another. The memory of source and destination should NOT overlap. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acd2f2fe4af5e7358d737e992791f38f8"></a><!-- doxytag: member="ompl::base::SO2StateSpace::distance" ref="acd2f2fe4af5e7358d737e992791f38f8" args="(const State *state1, const State *state2) const " -->
virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#acd2f2fe4af5e7358d737e992791f38f8">distance</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state1, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state2) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes distance to between two states. This function satisfies the properties of a metric and its return value will always be between 0 and <a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#a73bd1d72deeb2f82bc21e83916ab4950" title="Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...">getMaximumExtent()</a> <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeaf8cfe977232479219b98ae2071550a"></a><!-- doxytag: member="ompl::base::SO2StateSpace::equalStates" ref="aeaf8cfe977232479219b98ae2071550a" args="(const State *state1, const State *state2) const " -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#aeaf8cfe977232479219b98ae2071550a">equalStates</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state1, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state2) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Checks whether two states are equal. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5439e63ec8bc12a8c6e7ffbab557dcf5"></a><!-- doxytag: member="ompl::base::SO2StateSpace::interpolate" ref="a5439e63ec8bc12a8c6e7ffbab557dcf5" args="(const State *from, const State *to, const double t, State *state) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#a5439e63ec8bc12a8c6e7ffbab557dcf5">interpolate</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *from, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *to, const double t, <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the state that lies at time <em>t</em> in [0, 1] on the segment that connects <em>from</em> state to <em>to</em> state. The memory location of <em>state</em> is not required to be different from the memory of either <em>from</em> or <em>to</em>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1d8e3f356a104d138c77816467c32ad1"></a><!-- doxytag: member="ompl::base::SO2StateSpace::allocStateSampler" ref="a1d8e3f356a104d138c77816467c32ad1" args="(void) const " -->
virtual <a class="el" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#a1d8e3f356a104d138c77816467c32ad1">allocStateSampler</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Allocate an instance of a uniform state sampler for this space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a561bec98eacbcb89ee3378372725f880"></a><!-- doxytag: member="ompl::base::SO2StateSpace::allocState" ref="a561bec98eacbcb89ee3378372725f880" args="(void) const " -->
virtual <a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#a561bec98eacbcb89ee3378372725f880">allocState</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Allocate a state that can store a point in the described space. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a35c9cce2cc850d669fb890b85bac79d0"></a><!-- doxytag: member="ompl::base::SO2StateSpace::freeState" ref="a35c9cce2cc850d669fb890b85bac79d0" args="(State *state) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#a35c9cce2cc850d669fb890b85bac79d0">freeState</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Free the memory of the allocated state. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#ae7e2c0c9d3fbe8cb0cbfbc61952d815e">getValueAddressAtIndex</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, const unsigned int index) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Many states contain a number of double values. This function provides a means to get the memory address of a double value from state <em>state</em> located at position <em>index</em>. The first double value is returned for <em>index</em> = 0. If <em>index</em> is too large (does not point to any double values in the state), the return value is NULL. <a href="#ae7e2c0c9d3fbe8cb0cbfbc61952d815e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a25c4dd29e78d3b1b4a7eb57dc384dca4"></a><!-- doxytag: member="ompl::base::SO2StateSpace::printState" ref="a25c4dd29e78d3b1b4a7eb57dc384dca4" args="(const State *state, std::ostream &out) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#a25c4dd29e78d3b1b4a7eb57dc384dca4">printState</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, std::ostream &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print a state to a stream. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a053148b4abd31221424589a90fa9a72d"></a><!-- doxytag: member="ompl::base::SO2StateSpace::printSettings" ref="a053148b4abd31221424589a90fa9a72d" args="(std::ostream &out) const " -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#a053148b4abd31221424589a90fa9a72d">printSettings</a> (std::ostream &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Print the settings for this state space to a stream. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1d68f86fc02094d4668413e4d7c47e93"></a><!-- doxytag: member="ompl::base::SO2StateSpace::registerProjections" ref="a1d68f86fc02094d4668413e4d7c47e93" args="(void)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#a1d68f86fc02094d4668413e4d7c47e93">registerProjections</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Register the projections for this state space. Usually, this is at least the default projection. These are implicit projections, set by the implementation of the state space. This is called by <a class="el" href="classompl_1_1base_1_1StateSpace.html#a62881b1915544da2e2843008da5f1109" title="Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them. It is safe to call this function multiple times.">setup()</a>. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A state space representing SO(2). The distance function and interpolation take into account angle wrapping. </p>
<p>Definition at line <a class="el" href="SO2StateSpace_8h_source.html#l00065">65</a> of file <a class="el" href="SO2StateSpace_8h_source.html">SO2StateSpace.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a73bd1d72deeb2f82bc21e83916ab4950"></a><!-- doxytag: member="ompl::base::SO2StateSpace::getMaximumExtent" ref="a73bd1d72deeb2f82bc21e83916ab4950" args="(void) const " -->
<div class="memitem">
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<td class="memname">double ompl::base::SO2StateSpace::getMaximumExtent </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Get the maximum value a call to <a class="el" href="classompl_1_1base_1_1SO2StateSpace.html#acd2f2fe4af5e7358d737e992791f38f8" title="Computes distance to between two states. This function satisfies the properties of a metric and its r...">distance()</a> can return (or an upper bound). For unbounded state spaces, this function can return infinity. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Tight upper bounds are preferred because the value of the extent is used in the automatic computation of parameters for planning. If the bounds are less tight, the automatically computed parameters will be less useful. </dd></dl>
<p>Implements <a class="el" href="classompl_1_1base_1_1StateSpace.html#a46ed7d102b6a65a2e2a03e70c7464a37">ompl::base::StateSpace</a>.</p>
<p>Definition at line <a class="el" href="SO2StateSpace_8cpp_source.html#l00068">68</a> of file <a class="el" href="SO2StateSpace_8cpp_source.html">SO2StateSpace.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="ae7e2c0c9d3fbe8cb0cbfbc61952d815e"></a><!-- doxytag: member="ompl::base::SO2StateSpace::getValueAddressAtIndex" ref="ae7e2c0c9d3fbe8cb0cbfbc61952d815e" args="(State *state, const unsigned int index) const " -->
<div class="memitem">
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<td class="memname">double * ompl::base::SO2StateSpace::getValueAddressAtIndex </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td>
<td class="paramname"><em>state</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>index</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [virtual]</code></td>
</tr>
</table>
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<p>Many states contain a number of double values. This function provides a means to get the memory address of a double value from state <em>state</em> located at position <em>index</em>. The first double value is returned for <em>index</em> = 0. If <em>index</em> is too large (does not point to any double values in the state), the return value is NULL. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>This function does <b>not</b> map a state to an array of doubles. There may be components of a state that do not correspond to double values and they are 'invisible' to this function. Furthermore, this function is slow and is not intended for use in the implementation of planners. </dd></dl>
<p>Reimplemented from <a class="el" href="classompl_1_1base_1_1StateSpace.html#a8584afb9165d2aa7408fec81c18659f4">ompl::base::StateSpace</a>.</p>
<p>Definition at line <a class="el" href="SO2StateSpace_8cpp_source.html#l00174">174</a> of file <a class="el" href="SO2StateSpace_8cpp_source.html">SO2StateSpace.cpp</a>.</p>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/spaces/<a class="el" href="SO2StateSpace_8h_source.html">SO2StateSpace.h</a></li>
<li>src/ompl/base/spaces/src/<a class="el" href="SO2StateSpace_8cpp_source.html">SO2StateSpace.cpp</a></li>
</ul>
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